Computational Dynamics, 3rd Edition

ISBN-10: 0470686154
ISBN-13: 9780470686157
Edition: 3rd 2010
Authors: Ahmed A. Shabana
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Description: Computational Dynamics presents an introduction to this advanced topic covering the concepts, definitions and techniques used in multibody dynamics and incorporating essential topics regarding kinematics and dynamics of motion in three dimensions.  More...

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Book details

Edition: 3rd
Copyright year: 2010
Publisher: John Wiley & Sons, Limited
Publication date: 1/12/2010
Binding: Hardcover
Pages: 542
Size: 7.00" wide x 10.00" long x 1.50" tall
Weight: 2.398
Language: English

Computational Dynamics presents an introduction to this advanced topic covering the concepts, definitions and techniques used in multibody dynamics and incorporating essential topics regarding kinematics and dynamics of motion in three dimensions. Shabana uses analytical tools including Lagrangian and Hamiltonian methods as well as NewtonEuler Equations. Computational techniques are stressed throughout to illustrate methods of solutions for authentic engineering problems. Most books treat the subject from the "analytical" point of view; that is, they focus on the techniques for analyzing the problems presented. Shabanas book is one of the few available that target the growing market for books that cover the practical computational methods used to solve "realworld" problems. This makes it of particular interest not only for courses, but also as an excellent reference for professional engineers. ·& & & & & & & &

Preface
Introduction
Computational Dynamics
Motion and Constraints
Degrees of Freedom
Kinematic Analysis
Force Analysis
Dynamic Equations and Their Different Forms
Forward and Inverse Dynamics
Planar and Spatial Dynamics
Computer and Numerical Methods
Organization, Scope, and Notations of the Book
Linear Algebra
Matrices
Matrix Operations
Vectors
Three-Dimensional Vectors
Solution of Algebraic Equations
Triangular Factorization
QR Decomposition
Singular Value Decomposition
Problems
Kinematics
Kinematics of Rigid Bodies
Velocity Equations
Acceleration Equations
Kinematics of a Point Moving on a Rigid Body
Constrained Kinematics
Classical Kinematic Approach
Computational Kinematic Approach
Formulation of the Driving Constraints
Formulation of the Joint Constraints
Computational Methods in Kinematics
Computer Implementation
Kinematic Modeling and Analysis
Concluding Remarks
Problems
Forms of the Dynamic Equations
D'Alembert's Principle
D'Alembert's Principle and Newton-Euler Equations
Constrained Dynamics
Augmented Formulation
Lagrange Multipliers
Elimination of the Dependent Accelerations
Embedding Technique
Amalgamated Formulation
Open-Chain Systems
Closed-Chain Systems
Concluding Remarks
Problems
Virtual Work and Lagrangian Dynamics
Virtual Displacements
Kinematic Constraints and Coordinate Partitioning
Virtual Work
Examples of Force Elements
Workless Constraints
Principle of Virtual Work in Statics
Principle of Virtual Work in Dynamics
Lagrange's Equation
Gibbs-Appel Equation
Hamiltonian Formulation
Relationship between Virtual Work and Gaussian Elimination
Problems
Constrained Dynamics
Generalized Inertia
Mass Matrix and Centrifugal Forces
Equations of Motion
System of Rigid Bodies
Elimination of the Constraint Forces
Lagrange Multipliers
Constrained Dynamic Equations
Joint Reaction Forces
Elimination of Lagrange Multipliers
State Space Representation
Numerical Integration
Algorithm and Sparse Matrix Implementation
Differential and Algebraic Equations
Inverse Dynamics
Static Analysis
Problems
Spatial Dynamics
General Displacement
Finite Rotations
Euler Angles
Velocity and Acceleration
Generalized Coordinates
Generalized Inertia Forces
Generalized Applied Forces
Dynamic Equations of Motion
Constrained Dynamics
Formulation of the Joint Constraints
Newton-Euler Equations
D'Alembert's Principle
Linear and Angular Momentum
Recursive Methods
Problems
Special Topics in Dynamics
Gyroscopes and Euler Angles
Rodriguez Formula
Euler Parameters
Rodriguez Parameters
Quaternions
Rigid Body Contact
Stability and Eigenvalue Analysis
Problems
Multibody System Computer Codes
Introduction to SAMS/2000
Code Structure
System Identification and Data Structure
Installing the Code and Theoretical Background
SAMS/2000 Setup
Use of the Code
Body Data
Constraint Data
Performing Simulations
Batch Jobs
Graphics Control
Animation Capabilities
General Use of the Input Data Panels
Spatial Analysis
Special Modules and Features of the Code
References
Index

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